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Manipulator Kinematics

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Basics of Robotics

Part of the book series: International Centre for Mechanical Sciences ((CISM,volume 402))

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Abstract

A robotic manipulator is a set of rigid bodies, also called links, performing complex motions in the workspace. In order to describe the displacements, velocities, accelerations, and dynamics of particular links, it is necessary to introduce mathematical tools, that are efficient in terms of computation. The matrix approach (using homogeneous coordinates) describes problems concerning the mechanics of the manipulator in a compact and uniform way, expressing the geometric, kinematic and dynamic relations between manipulator elements and the manipulated objects, and providing control algorithms, along with visual information processing. The use of homogeneous coordinates to describe the complex control system of a robot can considerably simplify the analysis and synthesis of such a system [3.2, 3.13, 3.17].

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Author information

Authors and Affiliations

  1. Warsaw University of Technology, Poland

    Adam Morecki

  2. Cracow University of Technology, Poland

    Józef Knapczyk

Authors
  1. Adam Morecki
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  2. Józef Knapczyk
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Editor information

Editors and Affiliations

  1. Warsaw University of Technology, Poland

    Adam Morecki

  2. Cracow University of Technology, Poland

    Józef Knapczyk

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© 1999 Springer-Verlag Wien

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Morecki, A., Knapczyk, J. (1999). Manipulator Kinematics. In: Morecki, A., Knapczyk, J. (eds) Basics of Robotics. International Centre for Mechanical Sciences, vol 402. Springer, Vienna. https://doi.org/10.1007/978-3-7091-2532-8_3

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  • DOI: https://doi.org/10.1007/978-3-7091-2532-8_3

  • Publisher Name: Springer, Vienna

  • Print ISBN: 978-3-211-83150-2

  • Online ISBN: 978-3-7091-2532-8

  • eBook Packages: Springer Book Archive

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